Related papers: TIRA: Toolbox for Interval Reachability Analysis
Standard imitation learning (IL) methods have achieved considerable success in robotics, yet often rely on the Markov assumption, which falters in long-horizon tasks where history is crucial for resolving perceptual ambiguity. This…
Reachability analysis of neural networks, which seeks to compute or bound the set of outputs attainable over a given input domain, is central to certifying safety and robustness in learning-enabled physical systems. Since exact reachable…
Prior work in multi-task learning has mainly focused on predictions on a single image. In this work, we present a new approach for multi-task learning from videos via efficient inter-frame local attention (MILA). Our approach contains a…
The increasing demand in artificial intelligence (AI) for models that are both effective and explainable is critical in domains where safety and trust are paramount. In this study, we introduce MIRA, a transparent and interpretable…
Imitation learning (IL) has shown great success in learning complex robot manipulation tasks. However, there remains a need for practical safety methods to justify widespread deployment. In particular, it is important to certify that a…
Human Activity Recognition (HAR) on resource-constrained wearable devices demands inference models that harmonize accuracy with computational efficiency. This paper introduces TinierHAR, an ultra-lightweight deep learning architecture that…
We first develop systematic and comprehensive interval observer designs for linear time-invariant (LTI) systems, under standard assumptions of observability and interval bounds on the initial condition and uncertainties. Traditionally, such…
Time-limited states characterise many dynamical processes on networks: disease infected individuals recover after some time, people forget news spreading on social networks, or passengers may not wait forever for a connection. These…
Context and motivation. Online user feedback is a valuable resource for requirements engineering, but its volume and noise make analysis difficult. Existing tools support individual feedback analysis tasks, but their capabilities are rarely…
Tick is a statistical learning library for Python~3, with a particular emphasis on time-dependent models, such as point processes, and tools for generalized linear models and survival analysis. The core of the library is an optimization…
The Sparse Grids Matlab Kit provides a Matlab implementation of sparse grids, and can be used for approximating high-dimensional functions and, in particular, for surrogate-model-based uncertainty quantification. It is lightweight,…
Interval refinement is a technique for reducing the conservatism of traditional interval based reachability methods by lifting the system to a higher dimension using new auxiliary variables and exploiting the introduced structure through a…
The increased capabilities of modern real-time systems (RTS) expose them to various security threats. Recently, frameworks that integrate security tasks without perturbing the real-time tasks have been proposed, but they only target single…
The multi-resolution approximation (MRA) of Gaussian processes was recently proposed to conduct likelihood-based inference for massive spatial data sets. An advantage of the methodology is that it can be parallelized. We implemented the MRA…
Reachability analysis is at the core of many applications, from neural network verification, to safe trajectory planning of uncertain systems. However, this problem is notoriously challenging, and current approaches tend to be either too…
In this paper, we introduce a hybrid zonotope-based approach for formally verifying the behavior of autonomous systems operating under Linear Temporal Logic (LTL) specifications. In particular, we formally verify the LTL formula by…
In this paper, we study thetime-bounded reachability problem for rectangular hybrid automata with non-negative rates (RHA+). This problem was recently shown to be decidable [Brihaye et al, ICALP11] (even though the unbounded reachability…
This paper presents a new Matlab toolbox, aimed at facilitating the use of polynomial optimization for stability analysis of nonlinear systems. In the past decade several decisive contributions made it possible to recast this type of…
This paper presents RichMap, a high-precision reachability map representation designed to balance efficiency and flexibility for versatile robot manipulation tasks. By refining the classic grid-based structure, we propose a streamlined…
We propose a novel hierarchical approach for multiple rotation averaging, dubbed HARA. Our method incrementally initializes the rotation graph based on a hierarchy of triplet support. The key idea is to build a spanning tree by prioritizing…